/*
* void CreateNavMesh()
* {
* var data = new float[]
* {
* -0.510708f,0.000000f,0.560116f,
* 0.475209f,0.000000f,0.560116f,
* -0.510708f,0.000000f,0.223784f,
* 0.475209f,0.000000f,0.223784f,
* -0.510708f,0.000000f,0.560116f,
* 0.475209f,0.000000f,0.560116f,
* -0.498859f,0.000000f,1.604937f,
* 0.487058f,0.000000f,1.604937f,
* -0.503560f,0.000000f,2.655539f,
* 0.482357f,0.000000f,2.655539f,
* -0.487180f,-0.147305f,3.284405f,
* 0.498737f,-0.147305f,3.284405f,
* -1.871698f,0.041424f,2.636110f,
* -1.855318f,-0.105881f,3.264977f,
* -2.698119f,0.000962f,2.633322f,
* -2.681739f,-0.146342f,3.262189f,
* -1.869888f,0.000000f,2.081351f,
* -2.696310f,0.000000f,2.078564f,
* -1.867582f,0.000000f,1.374484f,
* -2.694004f,0.000000f,1.371696f,
* -1.863584f,0.000000f,0.200000f,
* -2.690005f,0.000000f,0.145856f,
* -1.834403f,0.000000f,-0.430380f,
* -2.660824f,0.000000f,-0.430000f,
* 0.496814f,-0.085523f,-1.081090f,
* -0.502801f,0.000000f,-0.437349f,
* -0.489103f,-0.085523f,-1.081090f,
* 0.483116f,0.000000f,-0.437349f,
* 0.511144f,-0.174994f,-1.754542f,
* -0.474773f,-0.174994f,-1.754542f,
* -1.334424f,-0.129101f,-1.093288f,
* -1.320094f,-0.218572f,-1.766740f
* };
*
* int[] indexes = { 2, 3, 1, 1, 6, 2, 6, 7, 8, 7, 10, 8, 10, 11, 12, 9, 14, 11, 13, 16, 14, 15, 17, 18, 18, 19, 20, 20, 21, 22, 21, 24, 22, 23, 3, 26, 4, 26, 3, 28, 27, 26, 25, 30, 27, 30, 31, 27, 2, 4, 3, 1, 5, 6, 6, 5, 7, 7, 9, 10, 10, 9, 11, 9, 13, 14, 13, 15, 16, 15, 13, 17, 18, 17, 19, 20, 19, 21, 21, 23, 24, 23, 21, 3, 4, 28, 26, 28, 25, 27, 25, 29, 30, 30, 32, 31 };
*
* var vertex = new Vertex3D[data.Length / 3];
* for (int i = 0; i < vertex.Length; i++)
* {
* var point = new Vector3(data[i * 3], data[i * 3 + 1], data[i * 3 + 2]) * 4;
* point.Y = 0;
* vertex[i] = new Vertex3D(point);
* }
*
* for (int i = 0; i < indexes.Length; i++)
* {
* indexes[i] -= 1;
* }
*
* mesh = new Mesh(vertex, indexes);
* Materials = new Material[indexes.Length / 3];
* var shdrst = new ShaderSettings();
* shdrst.Ambient = true;
* for (int i = 0; i < Materials.Length; i++)
* {
* Materials[i] = new MaterialPMX(shdrst, new RenderDirectives());
* Materials[i].Offset = i * 3;
* Materials[i].Count = 3;
* }
* md = new MeshDrawer(mesh, Materials);
* Node.AddComponent(md);
*
*
* navMesh = new NavigationMesh(vertex, indexes);
* var navList = navMesh.navigationCells.ToList();
* var cell1 = navMesh.GetCellFromPosition(new Vector3(0));
* var cell2 = navMesh.GetCellFromPosition(new Vector3(-1.0431f, 0, 1.53819f));
* }
*/
void MadePath(int start)
{
foreach (var mat in Materials)
{
mat.UniformManager.Set("ambient_color", Vector3.Zero);
}
int end = 25;
//var searcher = new AStarSearch(navMesh);
//var result = searcher.CalculatePath(navMesh.navigationCells[start].Center, navMesh.navigationCells[end].Center);
var navAgent = new NavigationAgent(navMesh);
var result = navAgent.SearchPath(navMesh.navigationCells[start].Center, navMesh.navigationCells[end].Center);
if (result != null)
{
Console.WriteLine(result.Length);
foreach (var waipoint in navAgent.pathMesh)
{
Materials[waipoint.Index].UniformManager.Set("ambient_color", Vector3.UnitY);
// Console.WriteLine(waipoint.Index);
}
}
Materials[start].UniformManager.Set("ambient_color", Vector3.UnitX);
Materials[end].UniformManager.Set("ambient_color", Vector3.UnitZ);
}
public MovementRangeRequest(Vector3 position, NavigationAgent agent, Action <Tile[]> callback)
{
//TODO: Chnage AgentRange
this.position = position;
this.callback = callback;
this.agent = agent;
}
private float ComputeCost(NavigationPoint navPoint, NavigationAgent agent)
{
var addCost = additionalCost == null ? 0 : additionalCost.Invoke(agent, navPoint.position);
var neighboursCost = _computeNeightboursCost ? GetNeightboursCost(navPoint) : 0;
return((PointIsVisibleFromPlayerPosition(navPoint) ? VISIBLE_BY_PLAYER - addCost : addCost) + neighboursCost);
}
private void OnEnable()
{
m_NavAgent = gameObject.GetComponent<NavigationAgent>();
m_OriginalSpeed = m_NavAgent.Speed;
m_Slowed = false;
Slowdown(m_Slowed, 1.0f);
}
public PathRequest(NavigationAgent agent, Vector3 startPosition,
Vector3 endPosition, Action <Vector3[], int, bool> callback)
{
this.agent = agent;
this.startPosition = startPosition;
this.endPosition = endPosition;
this.callback = callback;
}
private void Start()
{
_tenantEvaluator = FindObjectOfType <TenantEvaluator>();
_tenantEvaluator.Add(this);
_navigationAgent = GetComponent <NavigationAgent>();
this.transform.localScale = Vector3.zero;
this.transform.DOScale(Vector3.one, .3f).SetEase(Ease.OutBack);
}
public Vector3 FindNearestSafePoint(NavigationAgent agent)
{
var minCost = float.MaxValue;
var minIndex = -1;
var maxCost = float.MinValue;
var maxIndex = -1;
var nextPathPoint = Vector3.zero;
if (_navigationType == NavigationType.ByUnityNavMeshPath)
{
agent.GetNearestPointToTarget(_player.position);
}
var beginPoint = GetNearestNavigationPoint(agent.transform.position);
if (agent.TargetPoint != Vector3.negativeInfinity)
{
var prevTargetPoint = GetNearestNavigationPoint(agent.TargetPoint);
minCost = EvaluateCost(prevTargetPoint, agent, nextPathPoint) + ComputeCost(prevTargetPoint, agent);
minIndex = prevTargetPoint.index;
}
for (var i = -_computeAgentDistanceLimit; i <= _computeAgentDistanceLimit; i++)
{
for (var j = -_computeAgentDistanceLimit; j <= _computeAgentDistanceLimit; j++)
{
var index = beginPoint.index + i * height + j;
if (index >= 0 && index < _navPoints.Length && beginPoint.index % height + j >= 0 && beginPoint.index % height + j < height && _navPoints[index].isPassable)
{
var cost = EvaluateCost(_navPoints[index], agent, nextPathPoint);
if (cost < minCost)
{
cost += ComputeCost(_navPoints[index], agent);
if (cost < minCost)
{
minCost = cost;
minIndex = index;
}
if (cost > maxCost)
{
maxCost = cost;
maxIndex = index;
}
}
}
}
}
if (minCost >= VISIBLE_BY_PLAYER)//if no safe area - run away from player
{
return(_navPoints[maxIndex].position);
}
return(_navPoints[minIndex].position);
}
private float EvaluateCost(NavigationPoint navPoint, NavigationAgent agent, Vector3 nextPathPoint)
{
switch (_navigationType)
{
case NavigationType.ByUnityNavMeshPath:
return(2 * Vector3.Distance(navPoint.position, agent.transform.position) + 3f * Vector3.Distance(navPoint.position, nextPathPoint) + 0.5f * Vector3.Distance(navPoint.position, _player.position));
case NavigationType.SimpleNearestPoint:
default:
return(1 * Vector3.Distance(navPoint.position, agent.transform.position) + 2f * Vector3.Distance(navPoint.position, _player.position));
}
}
void Start()
{
//CreateNavMesh();
navMesh = NavigationMesh.GetInstance;
navAgent = new NavigationAgent(navMesh);
navAgent.AgentSize = .3f;
try
{
CreateAnimationController();
}
catch (Exception e) { Console.WriteLine(e.Message); }
}
void Start()
{
instanceRobo = this;
m_transform = transform;
if (navAgent == null)
{
navAgent = m_transform.parent.GetComponent <NavigationAgent>();
}
beforePosition = m_transform.position;
m_animator = GetComponentInChildren <Animator>();
}
public float AdditionalCost(NavigationAgent currentAgent, Vector3 point)
{
var cost = 0f;
for (var i = 0; i < _agents.Length; i++)
{
if (_agents[i].Id != currentAgent.Id)
{
var dist = Vector3.Distance(_agents[i].TargetPoint, point);
if (dist < _minDistanceBetweenAgents)
{
cost += 100f * (_minDistanceBetweenAgents - dist) / _minDistanceBetweenAgents;
}
}
}
return(cost);
}
protected virtual void Awake()
{
_navAgent = GetComponent <NavigationAgent>();
}
public void UnregisterAgent(NavigationAgent agent)
{
_agentsTmp.Remove(agent);
_agents = _agentsTmp.ToArray();
}
public void RegisterAgent(NavigationAgent agent)
{
_agentsTmp.Add(agent);
_agents = _agentsTmp.ToArray();
}
// Use this for initialization
void Awake()
{
vehicle = gameObject.GetComponent <VehicleAgent>();
navigator = gameObject.GetComponent <NavigationAgent>();
}